TrajOpt failure signal

[savolla]

Good day! Is there any interface where I can retrieve TrajOpt failure signal? I want to know if TrajOpt failed due to a collision or something else in runtime so I can adjust planner parameters and recreate the planning server and replan my trajectory in real time. I can see the error message in the terminal like this;

Error:   Discrete collision detected between 'sphere_attached' and 'torch_base_link' with distance -0.000991146
...
more errors here..
...
Error:   TrajOptTaskflow Failure: 
         at line 51 in /home/savolla/tesseract_ws/src/tesseract_planning/tesseract_process_managers/src/core/utils.cpp

But to use it in runtime I need something like composite_instruction.isCollided() or composite_instruction.isFailed(). What class or interface should I use for this? Thanks!

[Levi-Armstrong]

The ProcessPlanningFuture has a member called interface which stores task infos which can be used to determine where and why things failed.

[savolla]

Thank you! In this case I needed to do only this;

response.interface->isSuccessful();